CN208573607U - Clean robot - Google Patents

Clean robot Download PDF

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Publication number
CN208573607U
CN208573607U CN201721055322.1U CN201721055322U CN208573607U CN 208573607 U CN208573607 U CN 208573607U CN 201721055322 U CN201721055322 U CN 201721055322U CN 208573607 U CN208573607 U CN 208573607U
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China
Prior art keywords
clean robot
layer
control module
wheel
sensor
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CN201721055322.1U
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Chinese (zh)
Inventor
何博
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Midea Robozone Technology Co Ltd
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Jiangsu Midea Cleaning Appliances Co Ltd
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Abstract

The utility model discloses a kind of clean robot, clean robot includes casing, linking arm, spring, motor, dust box, clearing apparatus, control module, walking module, sensor-based system, bumper and wheel whereabouts sensor.According to the clean robot of the utility model embodiment, spring can drive wheel to be moved to extended position.Wheel whereabouts sensor can detecte the extended position of wheel and transmit signals to control module; control module control clean robot does not continue to move ahead; and then effectively protect clean robot; in addition; pass through setting sensor-based system and walking module; sensor-based system can transmit signal to control module, and control module signal can be adjusted the walking cleaning of clean robot based on the received.And due to be provided with bumper so that clean robot can either during cleaning avoiding barrier, clean robot can be also protected when colliding with object, make clean robot carry out cleaning when it is more intelligent.

Description

Clean robot
Technical field
The utility model relates to robot field more particularly to a kind of clean robots.
Background technique
Clean robot automatic cleaning can encounter the barriers such as furniture, wall, threshold, step during room, in order to Realize that clean robot can thoroughly clean room, it is necessary to design a kind of control mode and clean robot is enabled to clean In the process automatic avoiding obstacles or carry out along wall clean, existing barrier judgment logic is complex, judge parameter compared with It is more, cause to need to arrange more sensor on clean robot.
Utility model content
The utility model aims to solve at least one of the technical problems existing in the prior art.For this purpose, the utility model mentions A kind of clean robot out, the clean robot have the advantages that structure is simple, operation is convenient.
According to the clean robot of the utility model embodiment, comprising: casing, the casing include shell and chassis, institute State the bottom that chassis is located at the shell；Linking arm, the first end of the linking arm is rotatably arranged on the chassis, described The second end of linking arm is equipped with rotatable wheel, and at least part of the wheel is extend into the shell；Spring, it is described The both ends of spring are connected respectively often to push the second end of the linking arm to be directed away from institute with the linking arm and the chassis The direction for stating chassis rotates so that the wheel is moved to extended position；Motor, the motor set on the housing and It is connected with the wheel to drive the vehicle wheel rotation；Dust box, the dust box are detachably arranged on the casing；It cleans Device, the clearing apparatus are set on the housing with towards cleaning particle in the dust box；Walking module, the walking mould Block is set on the shell；Control module, the control module is set on the housing, for controlling the clean robot fortune Row state；Sensor-based system, the sensor-based system is set on the housing and the sensor-based system includes that optical transmitting set and light are visited Device is surveyed, the optical transmitting set transmitting has the directional beam for limiting launching site, and the optical detector, which has, limits visual field, the biography Sensing system is configured to the restriction launching site and the restriction visual field there are overlapping region, the control module respectively with it is described Optical detector is connected with the walking module, towards institute when the control module is configured in the overlapping region without object State walking module output travel commands；Wheel whereabouts sensor, wheel whereabouts sensor are connected with the control module, institute State control module controlled when wheel whereabouts sensor detects that the wheel drops to the extended position it is described electronic Machine is out of service.Bumper, the bumper include bumper body, power absorbed layer, thin film switch layer and power transfer layer, described Bumper body is located at the front of the casing, and the power absorbed layer is located in the bumper body, the thin film switch layer Multiple electrical contacts on outer surface including being located at the bumper body, the power transfer layer are located at the power absorbed layer and institute State between thin film switch layer, the power transfer layer transfers force in the thin film switch layer, the control module with it is described thin Membrane switch layer is connected to control the operating status of the clean robot according to the sensing results of the bumper.
According to the clean robot of the utility model embodiment, by being arranged under the linking arm and wheel that are connect with spring Sensor and control module are fallen, and control module is connect with whereabouts sensor and motor, thus, it is possible to pass through control module control System regulates and controls the operation of motor, and then can control clean robot in ground moving dedusting.Moreover, spring can drive The direction for making linking arm be directed away from chassis with motor car wheel is mobile, and wheel is made to be moved to extended position.Wheel whereabouts sensor It can detecte the extended position of wheel and transmit signals to control module, control module control motor is out of service, thus Make the clean robot of wheel hanging not continue to move ahead, and then effectively protect clean robot, in addition, being passed by setting Sensing system and walking module, sensor-based system can to control module transmit signal, control module can based on the received signal to Walking module issues command adapted thereto, and then can control the different walking cleaning mode of clean robot.And due to being provided with The bumper of " road conditions " can be perceived so that clean robot can either during cleaning avoiding barrier, also can with object Clean robot is protected when body collides, and keeps clean robot more intelligent, safe when carrying out cleaning.
Some embodiments according to the present utility model, the optical transmitting set are infrared transmitter, and the optical detector is red External radiation detector.
In some embodiments of the utility model, the optical transmitting set and the optical detector are respectively multiple, each There are overlapping region, the controls at the restriction launching site of the restriction visual field of the optical detector and at least one optical transmitting set Module is connected with multiple optical detectors respectively.
Optionally, the optical transmitting set includes infrared light supply and modulator, and the modulator with preset frequency for being modulated The directional beam of the infrared light supply transmitting.
Further, the optical transmitting set further includes emitter collimator, and the emitter collimator is around described infrared Light source is arranged to guide the directional beam；The sensor-based system further includes the detector collimation around optical detector setting Device is to limit the restriction visual field.
Some embodiments according to the present utility model, clean robot further include the first lens and the second lens, and described One lens and the optical transmitting set cooperate and second lens and the optical detector cooperate, first lens and described the Two lens cooperate to control the overlapping region.
In some embodiments of the utility model, the sensor-based system is located at the front of the shell.
Optionally, at least one described optical transmitting set is arranged close to the wheel.
Some embodiments according to the present utility model, the clearing apparatus include cleaning brush assemblies and vacuum suction component, The cleaning brush assemblies are rotatably arranged on chassis, and the vacuum suction component is towards adsorbing particle in the dust box.
Further, the cleaning brush assemblies include baffle brush and main brush, and the baffle brush and the main brush can turn respectively It is located on the chassis dynamicly and interval is arranged in the longitudinal direction, the rotation direction of the baffle brush and the main brush is opposite.
Some embodiments according to the present utility model, there are two spaced first storage room and for dust box tool Two storage rooms, first storage room and the cleaning brush assemblies are correspondingly arranged to receive that the cleaning brush assemblies clean Grain, second storage room and the vacuum suction component are correspondingly arranged to receive the particle of the vacuum suction component absorption.
It optionally, further include the deck being rotatably arranged on the bottom wall on the chassis.
Some embodiments according to the present utility model, the thin film switch layer include the first conductive layer and the second conductive layer, Multiple electrical contacts are equipped on first conductive layer and second conductive layer.
Further, the thin film switch layer further includes between first conductive layer and second conductive layer Separating layer, the separating layer are dielectric oil layer of ink.
In some embodiments of the utility model, the power transfer layer includes multiple power transmission parts, and the multiple power passes Part is passed to be arranged adjacent to the thin film switch layer to transfer force in the thin film switch layer.
The additional aspect and advantage of the utility model will be set forth in part in the description, partially will be from following description In become obvious, or recognized by the practice of the utility model.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the utility model from the description of the embodiment in conjunction with the following figures will Become obvious and be readily appreciated that, in which:
Fig. 1 is the motor pattern schematic diagram of the clean robot of the utility model embodiment；
Fig. 2 is that the clean robot of the utility model embodiment encounters the schematic diagram got out of a predicament or an embarrassing situation；
Fig. 3 is that the clean robot of the utility model embodiment encounters the schematic diagram of top bar；
Fig. 4 is that the clean robot of the utility model embodiment encounters the schematic diagram of barrier；
Fig. 5 is the optical generator and optical detector schematic view of the mounting position of the utility model one embodiment；
Fig. 6 is the optical generator and optical detector schematic view of the mounting position of another embodiment of the utility model；
Fig. 7 is the optical generator of the utility model embodiment and the operation principle schematic diagram of optical detector；
Fig. 8 is the overlapping region schematic diagram that the utility model embodiment is equipped with the first lens and the second lens；
Fig. 9 is the overlapping region schematic diagram that the utility model embodiment does not install the first lens and the second lens；
Figure 10 is one example overlapping region area of the utility model with optical generator and optical detector and ground level Change schematic diagram；
Figure 11 is the generation type schematic diagram of one example overlapping region of the utility model；
Figure 12 is the generation type schematic diagram of another example overlapping region of the utility model；
Figure 13 is the utility model one embodiment clean robot along wall cleaning modes movement locus schematic diagram；
Figure 14 is the utility model another embodiment clean robot along wall cleaning modes movement locus schematic diagram；
Figure 15 is the structural schematic diagram of the utility model one embodiment clean robot；
Figure 16 is the structural schematic diagram of another embodiment clean robot of the utility model；
Figure 17 is the perspective view of the clean robot in Figure 16；
Figure 18 is the structural schematic diagram according to the clean robot of the utility model embodiment；
Figure 19 is the partial structure sectional view according to the clean robot of the utility model embodiment；
Figure 20 is the partial structure sectional view according to the clean robot of the utility model embodiment；
Figure 21 is the explosive view according to the dust box of the clean robot of the utility model embodiment；
Figure 22 is the structural schematic diagram of the clean robot of the utility model embodiment；
Figure 23 is the structural schematic diagram of the bumper of the utility model one embodiment；
Figure 24 is the structural schematic diagram of the thin film switch layer of the utility model embodiment；
Figure 25 is the structural schematic diagram of first conductive layer of the utility model embodiment；
Figure 26 is the structural schematic diagram of second conductive layer of the utility model embodiment；
Figure 27 is the structural schematic diagram of the separating layer of the utility model embodiment；
Figure 28 is first conductive layer of the utility model embodiment and the assembling schematic diagram of power transfer layer；
Figure 29 is the structural schematic diagram of first conductive layer of the utility model one embodiment；
Figure 30 is the structural schematic diagram of second conductive layer of the utility model one embodiment；
Figure 31 is the assembly partial schematic diagram of Fig. 8 and the first conductive layer shown in Fig. 9 and the second conductive layer；
Figure 32 is the assembling schematic diagram of the bumper of the utility model one embodiment；
Figure 33 is the assembling schematic diagram of the bumper of the utility model another embodiment；
Figure 34 is the assembling schematic diagram of the bumper of the utility model another embodiment；
Figure 35 is the assembling schematic diagram of the bumper of the utility model further embodiment；
Figure 36 is the structural schematic diagram of the clean robot of the utility model one embodiment；
Figure 37 is the structural schematic diagram of clean robot shown in Figure 15；
Figure 38 is the decomposition diagram of clean robot shown in Figure 15.
Appended drawing reference:
Clean robot 100,
Casing 10, chassis 110, shell 120,
Linking arm 20, wheel 21, spring 22,
Deck 30,
Dust box 40, the first storage room 410, baffle protrusion 411, the second storage room 420,
Clearing apparatus 50 cleans brush assemblies 51, main brush 511, baffle brush 512, vacuum suction component 52.
Walking module 11, sensor-based system 2, optical transmitting set 210 limit launching site 211, the first lens 212, the second lens 222, optical detector 220, restriction visual field 221, overlapping region 23, along wall cleaning modes 3, random bounce mode 4,
Power supply 103, window 106, bumper 108, bumper body 111, front 112, rear portion 114, thin film switch layer 122, drive system 128, left drive module 128a, left driving wheel 124a, left drive motor 122a, right drive module 128b are right Driving wheel 124b, right drive motor 122b, the first conductive layer 130, the second conductive layer 140, separating layer 150, the first electrical contact 160a, second electrical contact 160b, the first circuit 165a, second circuit 165b, opening 170, power transfer layer 180, force transmission element 185, power absorbed layer 188, exterior cover sheets 190.
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng The embodiment for examining attached drawing description is exemplary, and is only used for explaining the utility model, and should not be understood as to the utility model Limitation.
Below with reference to Fig. 1-Figure 38 description according to the clean robot 100 of the utility model embodiment.
As shown in Figure 18-Figure 21, according to the clean robot 100 of the utility model embodiment, clean robot 100 is wrapped It includes: casing 10, linking arm 20, spring 22, motor, dust box 40, clearing apparatus 50, control module, walking module 11, insurance Thick stick 108, sensor-based system 2 and wheel whereabouts sensor.
Specifically, as shown in figure 18, casing 10 includes shell 120 and chassis 110, and chassis 110 is located at the bottom of shell 120 Portion.Shell 120 and chassis 110 can limit chamber as a result, and remaining part can be installed in chamber or be assembled to shell 120 or chassis 110 on, in order to being fixedly connected for other component, and casing 10 can make clean robot 100 more beautiful And it can protect other component.
The first end of linking arm 20 is rotatably arranged on chassis 110, and the second end of linking arm 20 is equipped with rotatable vehicle Wheel 21, at least part of wheel 21 is extend into shell 120.It is understood that the first end of linking arm 20 is rotationally It is located on chassis 110, as a result, when 20 first end of linking arm is rotated relative to chassis 110, the second of adjustable linking arm 20 Relative position between end and chassis 110.So as to drive the wheel 21 of second end to adjust between wheel 21 and chassis 110 Relative distance.
The both ends of spring 22 are connected respectively often to push the second end of linking arm 20 towards far with linking arm 20 and chassis 110 Direction from chassis 110 rotates so that wheel 21 is moved to extended position.As a result, when wheel 21 and ground are detached from, spring 22 The direction that linking arm 20 can be driven to be directed away from chassis 110 with motor car wheel 21 is mobile.For example, when the traveling of wheel 21 to recess position When setting, the direction (i.e. towards the direction on ground) that spring 22 can drive wheel 21 to be directed away from chassis 110 is moved, and spring 22 pushes away Dynamic linking arm 20 is bonded wheel 21 and the ground of recess, so as to mitigate clean robot 100 in uneven ground run When vibration.It should be noted that " extended position " described here can refer to, linking arm 20 with motor car wheel 21 be moved to away from From the maximum shift position in chassis 110.For example, wheel 21 and ground are detached from when the traveling of wheel 21 to the positions such as ladder, gully And be suspended in the air, at this point, the direction that spring 22 pushes linking arm 20 to be directed away from chassis 110 is mobile, and make wheel 21 and chassis The distance between 110 reach maximum, i.e., wheel 21 is moved to extended position.
Motor is located on casing 10 and is connected with wheel 21 to drive wheel 21 to rotate, thus, it is possible to be driven by motor Motor car wheel 21 rotates, to make clean robot 100 by motor driven in ground motion, to carry out cleaning.
Dust box 40 is detachably arranged on casing 10, and the dust that clean robot 100 cleans as a result, can be collected into ash In dirt box 40.And by the way that dust box 40 to be detachably arranged on casing 10, convenient for removing dust box 40 to clear up dust. Meanwhile also facilitating the maintenance of dust box 40, replacement.
Clearing apparatus 50 is located on casing 10 with towards particle is cleaned in dust box 40, thus, it is possible to pass through clearing apparatus 50 are swept into dust in dust box 40, carry out cleaning with robot 100 convenient for cleaning.
Control module can be used for controlling 100 walking mode of clean robot, control module be located on casing 10 and with electricity Motivation is connected.Thus, it is possible to adjust clean robot 100 in the movement on ground, to make clean robot by control module 100 realizations automatically move cleaning, and then keep cleaning more convenient, intelligent.
Wheel whereabouts sensor is connected with control module, and control module detects that wheel drops in wheel whereabouts sensor It is out of service that motor is controlled when extended position.It should be noted that when the traveling of clean robot 100 to ladder, gully equipotential When setting, spring 22 is drivingly connected the position movement that arm 20 is directed away from chassis 110, so that hanging wheel 21 be made to be moved to distance The extended position of 110 farthest of chassis.At this point, whereabouts sensor, which can detecte wheel 21, is moved to extended position, and will letter It number is transferred to control module, control module controls 100 stop motion of clean robot.It is thus possible to prevent clean robot 100 In driving process, continues to move ahead and break when encountering ladder, gully, and then protect clean robot 100, make clean robot 100 cleaning is more intelligent.
As shown in Fig. 1-Figure 17, casing 10 is equipped with walking module 11.Sensor-based system 2 is located on casing 10 and sensor-based system 2 include optical transmitting set 210 and optical detector 220, and the transmitting of optical transmitting set 210 has the directional beam for limiting launching site 211, and light is visited Surveying device 220 has restriction visual field 221, and sensor-based system 2 is configured to restriction launching site 211, and there are overlay regions with visual field 221 is limited Domain 23, control module are connected with optical detector 220 and walking module 11 respectively, and control module is configured in overlapping region 23 Travel commands are exported towards walking module 11 when no object.
It should be noted that as shown in figs 2-4, clean robot can encounter house during 100 automatic cleaning room Tool, wall, threshold, step etc. barrier, in order to realize that clean robot 100 can thoroughly clean room, it is necessary to design A kind of control mode enables to clean robot 100 automatic avoiding obstacles or clean along wall in cleaning process.
In order to thoroughly be cleaned to room, as shown in Figure 1, clean robot 100 usually has random rebound mould Formula 4 and along wall cleaning modes 3.Specifically, random bounce mode 4 refers to that clean robot 100 is being cleaned apart from wall farther out Ground when, encounter barrier occur avoiding barrier behavior pattern.Refer to that clean robot 100 exists along wall cleaning modes 3 When cleaning ground closer apart from wall, the behavior pattern cleaned along wall is remained.
As shown in Figure 5-Figure 7, when clean robot 100 carries out the movement on cleaning floor, optical transmitting set 210 is towards floor Emit directional beam, these light beams can be detected by floor reflection, the reflected beams by optical detector 220.Specifically, only There are overlay regions for the restriction visual field 221 of restrictions launching site 211 and the optical detector 220 of the directional beam that optical transmitting set 210 emits When domain 23, optical detector 220 can just detect the directional beam issued by optical transmitting set 210.In this case, since light is sent out The distance of emitter 210 and optical detector 220 apart from ground is certain, therefore limits launching site 211 and limit the weight of visual field 221 The size in folded region 23 is determining, that is to say, that the light intensity that theoretically optical detector 220 detects is a definite value.
When there are when barrier, barrier can change the reflection direction of the directional beam of the sending of optical transmitting set 210 on floor, To which only segment beam is detected by optical detector 220, that is to say, that the light intensity that optical detector 220 detects can reduce.Cause This, when the light intensity value that optical detector 220 detects be less than setting value when, optical detector 220 to control module output signal so that Control module is to 11 output signal of walking module, so that clean robot 100 changes direction of travel with avoiding obstacles.
When clean robot 100 is in along wall cleaning modes 3, since under the mode, clean robot 100 had both needed clearly The ground near wall is swept, and cannot be too close apart from wall, in order to avoid collide with wall.Therefore in this mode, cleaner Device people 100 needs constantly to adjust the distance apart from wall.
It is understood that in this case, limiting launching site 211 and limiting the overlapping region 23 of visual field 221 extremely Few a part is located on wall, since clean robot 100 is real-time change at a distance from wall, that is to say, that overlay region The size in domain 23 is also real-time change.Closer apart from metope, the area of overlapping region 23 is smaller, i.e., optical detector 220 detects The light intensity arrived is smaller, remoter apart from metope, and the area of overlapping region 23 is smaller, i.e. the light intensity that detects of optical detector 220 is smaller. Therefrom, it may be appreciated that there are a maximum values for the area of overlapping region 23, i.e., the light intensity value that optical detector 220 detects is deposited In a maximum value, when optical detector 220 detects this value, clean robot 100 enters along wall cleaning modes.
Under wall cleaning modes, the critical value for the light intensity that an optical detector 220 detects is preset, when detecting Light intensity when being less than critical value, to control module output signal, control module is exported to walking module 11 to be believed optical detector 220 Number, so that clean robot 100 is directed away from the direction movement of wall；When the light intensity detected is again less than critical value, light Detector 220 is to control module output signal, and control module is to 11 output signal of walking module, so that 100 court of clean robot It is moved to the direction close to wall.That is to say, clean robot 100 is being repeated close to wall-always under wall cleaning modes 3 The circulation of wall is again adjacent to far from wall-.Clean robot 100 can be realized so both can clean the ground near wall Face, and will not closely collide with wall very much apart from wall.
As the above analysis, the clean robot 100 of the utility model embodiment can be by sensor-based system 2 to control Module transmits signal, and control module signal can be instructed to the sending of walking module 11 based on the received, and then to clean robot 100 walking is controlled.
As shown in Figure 22 and Figure 23, bumper 108 includes bumper body 111, power absorbed layer 188, thin film switch layer 122 With power transfer layer 180, bumper body 111 is located at the front of shell 120, and power absorbed layer 188 is located in bumper body 111, Thin film switch layer 122 includes the multiple electrical contacts being located on the outer surface of bumper body 111, and power transfer layer 180 is located at power suction It receives between layer 188 and thin film switch layer 122, power transfer layer 180 transfers force in thin film switch layer 122.Clean robot 100 It further include for controlling the control module of 100 operating status of clean robot (not shown go out), control module is located on casing 10 And it is connected with thin film switch layer 122 to control the operating status of clean robot 100 according to the sensing results of bumper 108.
When clean robot 100 collides barrier, the thin film switch layer 122 on bumper 108 can perceive cleaning Robot 100 encounters barrier during traveling, the signal of " encountering obstacle " can be transmitted in control module at this time, After control module receives signal, corresponding response is made.That is, during clean robot 100 is in cleaning procedure, The thin film switch layer 122 of bumper 108 is able to detect the traveling road conditions of clean robot 100 (for example, encountering barrier, step With wall etc.).And when clean robot 100 and external environment are physically contacted, thin film switch layer 122 can be passed to control module Delivery signal, control module make feedback after receiving signal at once, send the commands to ring to the drive module of clean robot 100 Answer road conditions (for example, far from barrier, evading step).In addition, bumper 108 can also protect the inside of clean robot 100 Element is from by occurring impact force caused by being physically contacted with external environment.
In conclusion the tool of bumper 108 is there are two function, first, send out when clean robot 100 and barrier or wall When raw collision, clean robot 100 is protected using bumper body 111 and power absorbed layer 188；The second, thin film switch layer 122 can Control module is fed back to locating for clean robot 100 " road conditions " to perceive, control module is according to the sensing results of bumper 108 Control the operating status of clean robot 100.
According to the clean robot 100 of the utility model embodiment, by be arranged the linking arm 20 being connect with spring 22 with And wheel whereabouts sensor and control module, and control module is connect with whereabouts sensor and motor, thus, it is possible to pass through control The control of molding block regulates and controls the operation of motor, and then can control clean robot 100 in ground moving dedusting.And And the direction that spring 22 can drive linking arm 20 to be directed away from chassis 110 with motor car wheel 21 is mobile, and is moved to wheel 21 Extended position.Wheel whereabouts sensor can detecte the extended position of wheel 21 and transmit signals to control module, control mould Block control motor is out of service, so that the clean robot 100 for keeping wheel 21 hanging does not continue to move ahead, and then effectively protects Clean robot 100 is protected, in addition, can be to control module by setting sensor-based system 2 and walking module 11, sensor-based system 2 Transmit signal, control module to walking module 11 can issue command adapted thereto by signal based on the received, and then can control cleaning The different walking cleaning mode of robot 100.And the bumper 108 of " road conditions " can be perceived due to being provided with, so that cleaning Robot 100 can either during cleaning avoiding barrier, clean robot can be also protected when colliding with object 100, keep clean robot 100 more intelligent, safe when carrying out cleaning.
In some embodiments, the distance of optical transmitting set 210 and optical detector 220 apart from ground can change overlapping region 23 area, therefore distance d of the optical detector 220 apart from ground can be adjusted according to actual needs to change the big of overlapping region It is small.
As shown in Figure 10, in a specific example, when distance d is 1.3 inches, by the restriction of optical transmitting set 210 The restriction visual field 221 of launching site 211 and optical detector 220 is set as equal and is not overlapped, and limits launching site 211 and limit Visual field 221 is the ellipse that larger diameter is 0.940 inch, small diameter is 0.650 inch.When distance d is 0.85 inch When, limit launching site 211 with restriction visual field 221 it is completely overlapped, and overlapping region 23 be larger diameter be 0.600 inch, it is smaller The ellipse that diameter is 0.426.When distance d is less than 1.3 inches and is greater than 0.85 inch, the size of overlapping region 23 is by scheming 10 evident from not doing excessively repeat herein.
What needs to be explained here is that there is no limit optical transmitting set 210 and the installation of optical detector 220 for example shown in Fig. 10 Position, that is to say, overlapping region shown in Fig. 10 23 had both been likely to form on the ground, it is also possible to form on wall.Overlay region Domain 23 had both been likely to be optical transmitting set 210 and optical detector 220 is mounted on what the top of casing 10 was formed, it is also possible to be installation It is formed in the front of casing 10 or bottom, does not do specific limitation herein.Furthermore the shape of overlapping region 23 does not limit In ellipse, Plane figurer, such as annular, polygon, circle etc. can also be.
In one example, as shown in figure 11, optical transmitting set 210 and optical detector 220 be mounted on section be 22mm × In the box body of the rectangle of 53mm, optical transmitting set 210 and optical detector 220 are the cylinder that diameter is 3mm, and the two is respectively positioned on and machine 10 bottom of shell flush and with 10 top distance of casing be 13.772mm plane at, the two interval 31.24mm setting.This configuration It is taper as 20 ° of cone that definition, which limits launching site 211 and limits visual field 221, and angle between the two is 60 °.This is matched The overlapping region of definition is set between 10 bottom surface of casing and plane apart from 10 bottom surface 29mm of casing.
In another example, as shown in figure 12, the optical axis of optical transmitting set 210 and optical detector 220 is parallel to casing 101 Bottom plate.Limiting launching site 211 and limiting visual field 221 is taper as 22 ° of cone.Optical transmitting set 210 and optical detector 220 Spacing be 2.214 inches, and the optical axis included angle of the two be 10 °.When clean robot 100, which is parallel to wall, advances, limit Launching site 211 and the overlapping region 23 for limiting visual field 221 occur before casing 10 with point of contact between the walls 2.642 inches Place.The straight line of the intersection of 220 optical axis of optical transmitting set 210 and optical detector can ensure anti-from metope in this way perpendicular to wall Irradiating light beam is from into optical detector 220.
According to foregoing description, the staff of the art is able to understand how that adjustment limits launching site 211 and limits Visual field 221 and overlapping region between the two are to meet the specific design standard of any 100 equipment of clean robot.Therefore, Figure 10-Figure 12 only provides illustrative example, is not limitations of the present invention.
In some embodiments, optical transmitting set 210 is infrared transmitter, and optical detector 220 is infrared radiation detector.It can With understanding, the adaptation range of infrared transmitter and infrared radiation detector is relatively wide, cost is relatively low, it is lesser to be adapted to mount to In space.
It should be noted that the type of optical transmitting set 210 and optical detector 220 is not limited to infrared transmitter and infrared spoke Detector is penetrated, can also be laser generator, laser detector etc..
Shown in Fig. 6, when optical transmitting set 210 emit beam orthogonal when ground or metope, specular scattering can be generated, this Kind specular scattering can have adverse effect on the detection of optical detector 220.Therefore, in some alternative embodiments, such as Fig. 5 Shown, optical transmitting set 210 and optical detector 220 and ground or metope are all angled and staggered relatively, can mention in this way High measurement accuracy.
According to previous analysis, under random bounce mode 4, when overlapping region 23 is inner there are when barrier, optical detector 220 The light intensity detected can reduce, so that clean robot 100 makes the behavior of avoiding barrier.But under certain degree, clearly Clean robot 100 does not need to evade, for example, when clean robot 100 is walked from floor on carpet surface, although floor with There is " obstacle " in the place that carpet is bordered, but this obstacle is not sufficient to influence clean robot 100.For another example, clearly Clean robot 100 encounters lower threshold or relatively thin obstacle, and this obstacle is also not enough to influence clean robot 100. Therefore, in some embodiments, the critical value under random bounce mode 4 needs adjustable, and can be slightly below overlapping region 23 In be not present barrier when light intensity value.
Additional description is needed, random bounce mode 4 is also possible to be that there are steps on 100 direction of travel of clean robot The case where, when step is risen along 100 direction of advance of clean robot (shown in Fig. 3), such situation, which is equivalent to, encounters obstacle Detailed description has been made to such situation above in object, does not do excessive repeat herein.When step is along cleaning machine When dropping (shown in Fig. 2) under 100 direction of advance of people, when clean robot 100 is close to step, overlapping region 23 can reduce, also It is to say that the light intensity that optical detector 220 detects can also reduce, therefore cause clean robot 100 and make the behavior for evading step.
In some alternative embodiments, optical transmitting set 210 and optical detector 220 and ground angle at 45 ° are arranged, this When, the incidence angle of light beam is identical with angle of reflection, can guarantee ground in face of light beam make mirror-reflection and it is irreflexive under the conditions of, The behavior for evading step can be made.
It is understood that this behavior for evading step is only related with the height of step, not with the reflectivity on floor It is related.
According to previous analysis, under wall cleaning modes 3, clean robot 100 needs constantly to carry out close-separate wall The actuation cycle of wall, if will cause clean robot always with the movement of same curvature radius when close/separate wall 100 moving line is not smooth enough, as shown in figure 13.Therefore, can it is close in clean robot 100/far from wall when, can It is varied as desired the radius of curvature of clean robot 100.
For example, being gradually increased movement radius of curvature during clean robot 100 is far from wall；In cleaning machine During people 100 is far from wall, it is gradually increased movement radius of curvature.The moving line of clean robot is as shown in figure 14, phase Than Figure 13, the smooth many of the moving line of clean robot 100.
That is, clean robot 100 is moved with the direction that the radius of curvature of R1 is directed away from wall, optical detection at this time Whether the light intensity that device 220 detects is less than critical value, and clean robot 100 is moved towards the direction close to wall if being less than, If the light intensity that optical detector 220 detects is greater than critical value, clean robot 100 is with the radius of curvature of R2 (R2 > R1) towards far Direction movement from wall, until the light intensity that optical detector 220 detects is less than critical value.
Clean robot 100 is moved with the radius of curvature of R3 towards the direction close to wall, the detection of this photo detector 220 To light intensity whether be less than critical value, if be less than if clean robot 100 be directed away from wall direction movement, if optical detector 220 light intensity detected are greater than critical value, and clean robot 100 is with the radius of curvature of R4 (R4 < R3) towards the side close to wall To movement, until the light intensity that optical detector 220 detects is less than critical value.
It should be noted that wall can not be extended in one direction only, some optional due to the limitation of room shape Embodiment in, clean robot 100 is further comprised in control module when carrying out along wall cleaning modes 3, can be automatic right The alignment behavior of neat wall.
So-called alignment behavior refers to that, when the extending direction of wall changes, clean robot 100 being capable of automatic aligning Wall.
In some embodiments, when clean robot 100 is in along wall cleaning modes 3 and there is collision, machine is cleaned People 100 starts to be aligned.For convenience of description, the wall that clean robot 100 is aligned before alignment behavior occurs is known as first Wall, the wall that alignment behavior is aligned after occurring are known as the second wall.
In some embodiments, clean robot 100 rotates counterclockwise, so that robot is aligned with the second wall.
In some embodiments, clean robot 100 always rotates minimum angles and can be completed is aligned with wall, this be by In being set on clean robot 100 there are two wall sensors, if the second wall detector detects the second wall, and the first wall Wall detector can't detect the first wall, then stops operating, and when turning is completed in the behavior of alignment, it is by control right transfer to along wall Cleaning modes 3.Can be realized in this way clean robot 100 well aligned condition to start along wall cleaning modes 3.In addition, working as When second wall exceeds the range of the second wall sensors, how no matter clean robot 100, which rotate, cannot all stop to justification For, such case occurs in order to prevent, in the embodiment having, when clean robot 100 has rotated maximum preset angle, the Two wall sensors still do not detect the second wall, at this point, clean robot 100 also stops operating.
Additional description is needed, to prevent clean robot 100 from carrying out multi-turn movement around wall, some optional Also stop the progress of clean robot 100 in embodiment, in control module along the logic of wall cleaning modes 3.
Specifically, it is first determined clean robot 100 is in the minimum and maximum travel distance along wall cleaning modes 3, when clear When clean robot 100 has travelled maximum distance or has travelled at least minimum range and encounter barrier, clean robot 100 It exits along wall cleaning modes 3.This logic enable to clean robot 100 spent in being cleaned along wall reasonable time amount, Systematicness region missing to be cleaned is reduced, and the coverage area of robot motion is distributed to all regions to be cleaned.In addition, logical It crosses after detection of obstacles and tends to exit along wall cleaning modes 3, the perceived effect of clean robot 100 can be increased.
In some instances, clean robot 100 the distance advanced under the wall cleaning modes 3 can also be according to encountering The quantity and frequency of object are configured.If encountering the more of object, clean robot 100 will advance farther distance, To enter all areas on floor.On the contrary, if encountering seldom barrier, clean robot 100 will advance it is lesser away from From.
In further embodiments, clean robot 100 under wall cleaning modes 3 advance distance can also be according to clear The angle that clean robot 100 turns over is configured.If clean robot 100 rotates more than 270 degree, and can not position wall (or object) or clean robot are turning to 360 degree in total under wall cleaning mode 3, then clean robot 100 Also it may exit off along wall cleaning mode 3.
It is understood that in random rebound, since clean robot 100 detects that barrier is directed away from The direction of barrier moves, this results in the region for closing on barrier that can not be cleaned.Therefore, in some embodiments, clean Robot 100 can also include barrier follow the mode.The control principle of barrier follow the mode with along 3 class of wall cleaning modes Seemingly, it does not repeat them here herein.
Additional description is needed, in the case of random bounce mode 4, the motion profile of clean robot 100 is not Controllable, in some cases, clean robot 100 probably runs into the same barrier twice, therefore cleans machine The contour line that people 100 does not need obstacle in barrier follow the mode is walked one week.
Optionally, travel distance of the clean robot 100 under barrier follow the mode works greater than clean robot 100 Twice of width, less than ten times of 100 working width of clean robot.
Optionally, travel distance of the clean robot 100 under barrier follow the mode works greater than clean robot 100 Twice of width, less than five times of 100 working width of clean robot.
In some alternative embodiments, optical transmitting set 210 and optical detector 220 are respectively multiple, each optical detector There are overlapping region 23, control modules point at the restriction launching site 211 of 220 restriction visual field 221 and at least one optical transmitting set 210 It is not connected with multiple optical detectors 220.Thus, it is possible to the barrier of multiple directions be detected, when detecting same barrier It can be improved detection accuracy.Furthermore multiple optical transmitting sets 210 are set and optical detector 220 is conducive to when detecting different barriers Different parameters can be used.
In some embodiments, optical transmitting set 210 includes infrared light supply and modulator, and modulator is used for preset frequency tune The directional beam of infrared light supply transmitting processed.It will be appreciated that by optical detector 220 be tuned to can receive the infrared light of the frequency Beam improves detection accuracy it is possible thereby to reduce the influence of " clutter " (such as sunlight, the light beam that IR remote controller issues).
In some embodiments, optical transmitting set 210 further includes emitter collimator (not shown go out), and emitter collimator is enclosed It is arranged around infrared light supply to guide directional beam.Sensor-based system 2 further includes the detector collimator being arranged around optical detector 220 (not shown go out) is to limit visual field 221.
It is understood that emitter collimator and detector collimator are used to calibrate the orientation of the sending of optical transmitting set 210 The light beam that light beam and optical detector 220 receive, both can be improved the detection accuracy of clean robot 100.
In some embodiments, clean robot 100 further includes the first lens 212 and the second lens 222, the first lens 212 with the cooperation of optical transmitting set 210 and the second lens 222 cooperate with optical detector 220, and the first lens 212 and the second lens 222 are matched It closes to control overlapping region 23.
What needs to be explained here is that as shown in figure 8, being examined when limiting launching site 211 and restriction visual field 221 is completely coincident The precision of survey is higher, therefore, can make to limit launching site by adjusting the refractive index of the first lens 212 and the second lens 222 211 are completely coincident with visual field 221 is limited, and overlapping region 23 is fallen on ground or metope.In addition, setting optical transmitting set 210 When angle between optical detector 220 can not be fully solved irreflexive problem, the first lens 212 and the second lens are installed 222 can further solve the problems, such as that unrestrained transmitting occurs for light beam.
In some embodiments, sensor-based system 2 is located at the front of casing 10.Exist it is possible thereby to detect clean robot 100 The barrier encountered on direction of travel, certain sensor-based system 2 can be located at any part of casing 10 according to specific needs, at this In do not do and excessively repeat.
In some embodiments, walking module 11 includes the wheel 21 being located on the bottom wall of casing 10.
In some embodiments, at least one optical transmitting set 210 is arranged close to wheel 21.
In further embodiments, can by the polish brush for being used for floor polishing, be used for steel wire from floor peeling painting The cleaning devices such as brush and sand paper roller for sanded side are located at chassis 110.
In some alternative embodiments, in order to improve reliability of the clean robot 100 in autokinetic movement, cleaner Device people 100 can also include the other sensors system being located inside 10 surface of casing and/or casing 10, and sensing system includes The sensor of one or more types.Sensing system can perceive environment locating for clean robot 100, so that cleaning machine People 100 can make the movement for meeting the environment.Sensing system may include detection of obstacles and hide (ODOA) sensor, Communication sensor, navigation sensor etc..These sensors can include but is not limited to proximity sensor, contact sensor, take the photograph As head is (for example, volumetric point cloud imaging camera head, three-dimensional imaging camera and depth map sensor, visible light camera and/or red Outer video camera), sonar system, imaging sonar system, radar system, (light detection and range-measurement system, the system relate to LIDAR system And optical remote sensing, the attribute that can pass through measurement scattering light obtain target range and/or other information), ADAR (laser detection and Ranging), ranging sonar sensor, laser scanner etc..
Some embodiments according to the present utility model, as shown in figure 19, clearing apparatus 50 may include cleaning brush assemblies 51 With vacuum suction component 52, cleans brush assemblies 51 and be rotatably arranged on chassis 110, vacuum suction component 52 is towards dust box 40 Interior absorption particle.As a result, when clean robot 100 is during ground moving, cleaning brush assemblies 51 can be to the ash on ground Dirt is cleaned, and is swept into dust box 40.And dust can also be sucked into dust box 40 by vacuum suction component 52, By cleaning the mutual cooperation of brush assemblies 51 and vacuum suction component 52, the cleaning of clean robot 100 can be made more It is convenient, efficient.
In some embodiments of the utility model, as shown in figure 19, cleaning brush assemblies 51 may include 512 He of baffle brush Main brush 511, baffle brush 512 and main brush 511 are rotatably arranged on chassis 110 respectively and in the longitudinal direction (such as institute in Figure 19 The front-rear direction shown) interval setting.Thus, it is possible to by the mutual cooperation of baffle brush 512 and main brush 511, by the dust on ground It is swept into dust box 40.As shown in figure 19, baffle brush 512 and main brush are arranged at intervals on chassis 110 along the longitudinal direction and keep off Scrubbing brush 512 can be set in the front of main brush 511.
Further, baffle brush 512 is opposite with the rotation direction of main brush 511.It should be noted that working as clean robot 100 on the ground mobile cleaning when, the baffle brush 512 positioned at front can be identical as the rotation direction of wheel 21, thus baffle The dust on ground can be swept the rear to baffle brush 512 by brush 512；And the rotation direction of main brush 511 and the rotation of baffle brush 512 It is contrary, so that dust is swept the front to main brush 511.It, can as a result, under the mating reaction of main brush 511 and baffle brush 512 To assemble dust between main brush 511 and baffle brush 512, and swept through the dust box entrance between main brush 511 and baffle brush 512 Enter to dust box 40.
Some embodiments according to the present utility model, dust box 40 can have two spaced first storage rooms 410 and second storage room 420, the first storage room 410 is correspondingly arranged with brush assemblies 51 are cleaned to receive and clean brush assemblies 51 and clean Particle, the second storage room 420 is correspondingly arranged to receive the particle of the absorption of vacuum suction component 52 with vacuum suction component 52.Such as Shown in Figure 21, dust box 40 includes along (front-rear direction as shown in Figure 21) spaced first storage room along the longitudinal direction 410 and second storage room 420.Wherein, the dust import of the first storage room 410 and cleaning component 51 are opposite, the second storage room 420 Dust import be connected to vacuum suction component 52.Dust can be cleaned to the first storage room 410 by cleaning component 51 as a result, Interior, dust can be sucked into the second storage room 420 by vacuum suction component 52.The mistake on ground is cleaned in clean robot 100 Cheng Zhong, cleaning can be carried out jointly by cleaning component 51 and vacuum suction component 52, and not interfere with each other, to improve clear The cleaning efficiency of clean robot 100, and then can be with energy-saving consumption-reducing.
In some embodiments of the utility model, clean robot 100 can also include being rotatably arranged at chassis 110 Bottom wall on deck 30.It is relatively rotated as a result, by deck 30 with chassis 110, adjustable deck 30 and chassis 110 The distance between.It should be noted that cleaning component 51 can be assembled on deck 30, as a result, when deck 30 and chassis 110 are sent out It is raw when relatively rotating, the distance between adjustable cleaning component 51 and ground, so as to so that clean robot 100 according to need The different roughness on clean ground is wanted to adjust accordingly the height for cleaning component 51.
For example, main brush 511 and baffle brush 512 can be assembled on deck 30 in some examples of the utility model, when Clean smoother floor when, it is main brush 511 and baffle brush 512 friction is small with floor, can by rotation deck 30, Main brush 511 and baffle brush 512 are adjusted towards ground motion, so that main brush 511 and baffle brush 512 is more bonded ground, in favor of light The cleaning of sliding bottom plate；When cleaning relatively rough floor (such as carpet), the frictional force of main brush 511 and baffle brush 512 and ground It is larger.At this time can be by rotating deck 30, the direction that the main brush 511 of adjustment and baffle brush 512 are directed away from carpet is mobile, thus Make main brush 511 and baffle brush 512 farther away from ground, to reduce main brush 511 and the friction between baffle brush 512 and ground, from And the service life for cleaning component 51 can be extended, and convenient for clean robot 100 in the biggish ground moving of roughness.
Some embodiments according to the present utility model, as shown in figure 21, the input end of the bottom wall of dust box 40 are equipped with multiple Spaced baffle protrusion 411 on (left and right directions as shown in Figure 21) in left and right directions.It should be noted that dust box 40 outlet end can be opposite with main brush 511 or baffle brush 512, the baffle protrusion 411 of outlet end can stretch to main brush 511 or In the bristle of person's baffle brush 512.To, clean robot 100 in the process of work, protrude into main brush 511 or baffle brush 512 Interior baffle protrusion 411 can clear up the sundries on the bristle of rotation, so that cleaning is gone on smoothly.
Optionally, the inner bottom wall of dust box 40 is equipped with filter.Thus, it is possible to carry out dust filtering by filter. For example, when dust is sucked into dust box 40 by vacuum suction component 52, to prevent air from flowing to the external world from dust box 40 It takes dust out of dust box 40 in the process, causes secondary pollution problem caused by fugitive dust.Air can be with when flowing out from dust box 40 Dust filtering is carried out by filter, to reduce the dust even being eliminated in the air of outflow dust box 40.
In some embodiments of the utility model, linking arm 20 is two, and two linking arms 20 are rotationally set respectively In the left and right sides of shell 120, the second end of each linking arm 20 is equipped with wheel 21.Thus, it is possible to the company for passing through the left and right sides Connect the wheel 21 that arm 20 is fixedly connected with the left and right sides of clean robot 100, so as to so that the movement of clean robot 100 more Flexibly, stablize.
In some embodiments of the utility model, as shown in figure 23, bumper 108 may include bumper body 111, Power absorbed layer 188, thin film switch layer 122 and power transfer layer 180, this four synusia are either four separated synusia can also be with It is that certain several synusia is merged into a whole synusia.
In some embodiments, as shown in Figure 22 and Figure 23, bumper body 111 is connected to the shell of clean robot 100 On body 104, thin film switch layer 122 is connected in bumper body 111, and power transfer layer 180 is connected in thin film switch layer 122, Power absorbed layer 188 is connected on power transfer layer 180.Bumper body 111 can be an individual synusia, be also possible to clean A part of the shell 104 of robot 100.
In some embodiments, bumper body 111 can be by rigidity plastics (such as ABS (acrylonitrile-butadiene-benzene second Alkene material)) it is made and has as the smooth end face for installing thin film switch layer 122.Smooth end face can reduce film The probability of the generation error detection of switching layer 122.
In some embodiments, as shown in figure 22, the shell 104 of clean robot 100 is in the region of installation insurance thick stick 108 Equipped with window 106, then corresponding window 106 is equipped on all synusia of bumper 108.
In some embodiments, as shown in figure 23 and figure 24, thin film switch layer 122 includes the first conductive layer 130 and second Multiple electrical contacts are equipped on conductive layer 140, the first conductive layer 130 and the second conductive layer 140.
Specifically, as shown in figure 23, thin film switch layer 122 further includes being located at the first conductive layer 130 and the second conductive layer 140 Between separating layer 150.
It is understood that clean robot 100 cleans in traveling normal.Electrical contact on first conductive layer 130 It is in non-contacting state always with the electrical contact on the second conductive layer 140, thin film switch layer 122 is in " closing " shape at this time State, i.e. thin film switch layer 122 will not transmit signal to control module.But when clean robot 100 encounters during traveling Barrier, and when colliding with barrier, the electrical contact and second due to the effect of impact force, on the first conductive layer 130 Electrical contact on conductive layer 140 can generate contact, when thin film switch layer 122 is in " on " state at this time, i.e. thin film switch layer 122 can transmit signal to control module.Using the logic judgment of simple in this way " contact-non-contact ", it is achieved that insurance The function that thick stick 108 detects environment locating for clean robot 100.
As shown in figure 24, in some embodiments, the first conductive layer 130 is equipped with the first circuit 165a, the first circuit 165a is equipped with multiple first electrical contact 160a；Second conductive layer 140 is equipped with second circuit 165b, sets on second circuit 165b There are multiple second electrical contact 160b.
It should be noted that the quantity of the first electrical contact 160a and second electrical contact 160b can be the same or different. Multiple first electrical contact 160a form certain pattern on the first conductive layer 130, and multiple second electrical contact 160b can also be Two conductive layers 140 form certain pattern, and two kinds of patterns can be identical, two kinds of patterns also can have different size and/ Or shape.
In some optionally implementations, the first circuit 165a and second circuit 165b can be and utilize copper, silver or graphite material The electrically conductive ink of matter carries out the printed circuit of silk-screen printing.Certainly, it is suitable for other classes of printed circuit as known in the art The material of type can also be used for forming the first circuit 165a and second circuit 165b.
Since the first electrical contact 160a on the first conductive layer 130 passes through the electricity in separating layer 150 and the second conductive layer 140 Contact separation.As shown in figure 27, in some embodiments, separating layer 150 can limit multiple openings 170, can make the first conduction The first electrical contact 160a on layer 130 is contacted with the second electrical contact 160b on the second conductive layer 140.
According to narration above, the working condition of thin film switch layer 122 has the first electrical contact 160a and second electrical contact The contact condition of 160b determines, that is to say, that the chance number that the first electrical contact 160a is contacted with second electrical contact 160b is more, thin Membrane switch layer 122 is more sensitive.Therefore, it is opened in the density and separating layer 150 of the first electrical contact 160a and second electrical contact 160b Quantity, the shapes and sizes of mouth 170 can have an impact the susceptibility of thin film switch layer 122.
In one embodiment, as shown in Figure 29 and Figure 30, the first conductive layer 130 is divided into six regions 132a-132f, It is disposed with the first electrical contact 160a in this six regions, the second conductive layer 140 is divided into six regions 142a-142f, and this six Tool is disposed with second electrical contact 160b in region.First conductive layer 130 and the second conductive layer 140 are disposed vertically, that is to say, that the Six region 132a-132f of one conductive layer 130 are horizontal positioned, and six region 142a-142f of the second conductive layer 140 are vertical It places.So in the case where not increasing the first electrical contact 160a and second electrical contact 160b, the first electrical contact 160a and second The region that electrical contact 160b can generate contact just has 36, and (as shown in figure 31, Figure 31 only shows a part that can be contacted Region), the contact probability of the first electrical contact 160a and second electrical contact 160b is greatly improved, thin film switch layer is improved 122 susceptibility.In addition, this arrangement mode, control module can also be electric by contact with the first electrical contact 160a second The quantity of contact 160b measures the size that clean robot 100 receives impact force.
In some embodiments, the first conductive layer 130, the second conductive layer 140 and separating layer 150 are fabricated from a flexible material, For example, ethylene glycol terephthalate (PET) or tin indium oxide (ITO).
In some embodiments, separating layer 150 is dielectric oil layer of ink.Optionally, dielectric oil layer of ink can directly print It brushes on one in the first conductive layer 130 and the second conductive layer 140, i.e., separating layer 150 is attached directly to the first conductive layer 130 On one in the second conductive layer 140.Dielectric oil layer of ink can as the first conductive layer 130 and the second conductive layer 140 it Between insulator.
Dielectric thickness and the number of plies are printed it is understood that changing, thus it is possible to vary the first conductive layer 130 and second is led Gap between electric layer 140.The frame mode for replacing insulating film using dielectric oil layer of ink in this way, eliminates the first conductive layer 130 And second need preset clearance between conductive layer 140 needs.Further, it is also possible to by adjust dielectric oil layer of ink position, Shape and thickness are to adjust the thickness of thin film switch layer 122.
In further embodiments, separating layer 150 can be made of pressure drag material.
In some embodiments, as shown in figure 28, power transfer layer 180 includes multiple power transmission parts 185, multiple power transmission parts 185 adjacent films switching layers 122 be arranged to transfer force in thin film switch layer 122, and the quantity of multiple power transmission parts 185 with The quantity of the first electrical contact 160a on first conductive layer 130 is identical.
It is understood that the effect of power transfer layer 180 is that the impact force for absorbing power absorbed layer 188 is transmitted to film and opens It closes on layer 122, power transmission part 185 corresponding with the first electrical contact 160a is arranged on power transfer layer 180 as a result, can to rush Hit that power is more accurate to be transmitted in thin film switch layer 122.
In some embodiments, power transfer layer 180 can be by the polyurethane foam material of resistance permanent compression or permanent deformation Material is made.
As shown in figure 28, power transfer layer 180 includes multiple power transmission parts 185, and power transmission part 185 is from power transfer layer 180 Surface extend and adjacent films switching layer 122 be arranged small protrusion.
Since the effect of power transfer layer 180 is transmitting impact force, change power transfer layer 180 and power transmission part 185 The size of rigidity and power transmission part 185 can further change the sensitivity of thin film switch layer 122.
Optionally, power transmission part 185 can be formed as round, and diameter is equal to electrical contact.
In some embodiments, power absorbed layer 188 selects the polyurethane foamed material for resisting permanent compression or permanent deformation It is made.For example, eva foam (core material) and polyurethane elastomer etc..Power absorbed layer 188, which has, to be enough to absorb bumper 108 The thickness of the most of impact force generated between external environment, to reach the mesh of protection 100 shell 104 of clean robot 's.
Particularly, when robot 100 is mobile with the maximum speed of 1 feet per second, bumper 108 should absorb collision Overwhelming majority impact should reduce and/or eliminate from this to protect clean robot 100 not to be hit the influence of power The noise of impact.
It is some optionally in, same synusia can be made with power transfer layer 180 in power absorbed layer 188.
In some embodiments, bumper 108 further includes exterior cover sheets 190, and exterior cover sheets 190 are located at bumper master On the periphery wall of body 111.Exterior cover sheets 190 can be used for protecting Bunper assembly from abrasion, cutting or puncture.Outside is protected Any suitable elastomeric material, such as the vinyl material of enhancing can be used in sheath 190.Exterior cover sheets 190 can have There is the thickness of about 1mm.Exterior cover sheets 190 can be integrally formed with power absorbed layer 188.
As shown in Figure 32-35, in some embodiments, bumper 108 only covers the shell 104 of clean robot 100 A part.In further embodiments, bumper 108 is arranged around the shell 104 of clean robot 100.
In some embodiments, clean robot 100 further includes the obstacle sensor for detecting barrier, obstacle sensing Device is located in bumper body 111 and is connected with control module.
What needs to be explained here is that above-mentioned obstacle sensor, which can be non-contacting sensor, is also possible to contact-sensing Device.
In some embodiments, as shown in Figure 36-Figure 38, shell 120 includes front 112 and rear portion 114, drive system 128 are located at the bottom of shell 120, and bumper 108 is located at the front of shell 104, and control module is located inside shell 104, and with There is electrical connection in drive system 128.
Control module can issue to drive system 128 and be based on x, the drive command of y, θ, so that clean robot 100 exists Movement over ground.
Drive system 128 includes left driving wheel module 128a and right driving wheel module 128b.Left driving wheel module 128a and Right driving wheel module 128b is symmetrical along the front axle Y limited by shell 104, and left driving wheel module 128a includes left driving wheel 124a It include right driving wheel 124b and right drive motor 122b with left drive motor 122a, right driving wheel module 128b.Drive motor is logical It crosses screw and is detachably connected to 104 bottom of shell.Left drive motor 122a and right drive motor 122b are respectively provided at left driving Take turns the top of 124a and right driving wheel 124b.Left driving wheel module 128a and right driving wheel module 128b is (not shown by spring It is releasedly located on the chassis of shell 104 out), the two is kept in contact with ground to be cleaned always under corresponding spring.
The power supply 130 of the electric component power supply of promising clean robot 100 is installed on clean robot 100.
Clean robot 100 can be moved along three directions, and the direction of motion is the mutually perpendicular axis that shell 104 limits To direction, by the combination of the various movements in three directions so that the path of clean robot 100 covers ground to be cleaned.
As shown in figure 36, three axis are respectively horizontal axis X, front axle Y and center longitudinal axis Z, clean robot 100 along axis Y It is appointed as F (also referred to as " front ") towards the direction of traveling ahead, is appointed as A (also referred to as along the direction of axis Y towards behind For " rear ").Clean robot 100 is appointed as L (also referred to as " left ") towards the direction that left travels along horizontal axis, along axis X The direction travelled towards right is appointed as R (also referred to as " right ").
In some alternative embodiments, clean robot 100 further includes user interface, and user interface can be set in shell The top of body 104, for receiving one or more user command and/or showing working condition locating for clean robot 100.With Family interface can be communicated with the control module of clean robot 100, when user interface receives one or more instruction, control Molding block can control clean robot 100 and execute corresponding cleaning procedure.
In order to thoroughly be cleaned to room, clean robot 100 usually has random bounce mode and clear along wall Sweep mode.Specifically, random bounce mode refers to that clean robot 100 when cleaning ground farther away apart from wall, encounters The behavior pattern of barrier generation avoiding barrier.Along wall cleaning modes refer to clean robot 100 cleaning apart from wall compared with When close ground, the behavior pattern cleaned along wall is remained.
In some embodiments, control module can issue different action commands to clean robot 100.For example, control Clean robot 100 processed clean robot 100 when carrying out floor scouring under wall cleaning modes, or encountering barrier is made The behavior of avoiding barrier.
In some embodiments, control module can be controlled separately left driving wheel module 128a and right driving wheel module 128b Rotation speed and direction of travel to control the cleaning path of clean robot 100 can cover entire surface to be cleaned.Such as Control module can be channeled to random bounce mode when passing through surface to be cleaned across clean robot 100.Control mould Block and one or more sensors on the shell 104 of clean robot 100 are located at (for example, convex block, close, wall, stagnation and platform Rank sensor) electrical connection, that is to say, that control module can receive the signal of sensor output, and generate corresponding corresponding.
For example, control module can be to left driving wheel module 128a and right driving wheel when the signal that sensor detects Module 128b is reset.When to make clean robot 100 move over a surface to be cleaned, avoiding barrier or step. If control module can be escaped by a series of when clean robot 100 is blocked or tangled by certain barriers during the driving period Ease instruction allows and robot " escaping " and restores normal to guide left driving wheel module 128a and right driving wheel module 128b Clean operation.
Referring to Figure 15-Figure 21 with two specific embodiment detailed descriptions according to the cleaning of the utility model embodiment Robot 100.It is worth understanding, described below is only exemplary description, rather than to the concrete restriction of the utility model.
Embodiment one:
As shown in Figure 16-Figure 21, clean robot 100 according to the present utility model, clean robot 100 includes: casing 10, linking arm 20, spring 22, motor, dust box 40, clearing apparatus 50, walking module 11, sensor-based system 2, control module and Wheel whereabouts sensor.
Wherein, as shown in Figure 18 and Figure 19, casing 10 includes shell 120 and chassis 110, and chassis 110 is located at shell 120 Bottom is pivotly equipped with deck 30 on chassis 110.It is set on chassis 110 there are three wheel 21, two of them wheel 21 symmetrically divides It is distributed in the left and right sides on chassis 110, another wheel 21 is located at the front side on chassis 110.
As shown in figure 20, the wheel 21 positioned at front side is connected on chassis 110 by linking arm 20.The upper end of linking arm 20 It is rotatably arranged on chassis 110, the lower end of linking arm 20 connects rotatable wheel 21, and wheel 21 partially protrudes into shell In 120.It is equipped with motor in shell 120, wheel 21 can be driven to rotate.Spring 22, bullet are equipped between linking arm 20 and chassis 110 Spring 22 often pushes the lower end of linking arm 20 to be directed away from direction (i.e. lower section shown in Figure 20) rotation on chassis 110 so that wheel 21 are moved to extended position.
As shown in figure 19, chassis 110 is equipped with rotatable deck 30, and clearing apparatus 50 is fixed on deck 30.It cleans Device 50 includes cleaning brush assemblies 51 and vacuum suction component 52.Wherein, cleaning brush assemblies 51 includes baffle brush 512 and main brush 511, baffle brush 512 and main brush 511 are rotatably arranged on chassis 110 respectively and are spaced setting, baffle brush in the longitudinal direction 512 are located at the front of main brush 511.During cleaning, baffle brush 512 is opposite with the rotation direction of main brush 511.
Casing 10 is equipped with dismountable dust box 40, and as shown in figure 21, dust box 40, which has to be spaced along the longitudinal direction, to be set The first storage room 410 and the second storage room 420 set, the first storage room 410 are correspondingly arranged with brush assemblies 51 are cleaned to receive clearly The particle that brush component 51 cleans, the second storage room 420 are correspondingly arranged with vacuum suction component 52 to receive vacuum suction component The particle of 52 absorption.The input end of the bottom wall of dust box 40 is equipped with multiple baffle protrusions 411 spaced in the lateral direction. In the second storage room 420, the inner bottom wall of dust box 40 is equipped with filter.
Control module and wheel whereabouts sensor are additionally provided in shell 120, for controlling the walking mould of clean robot 100 Formula.Wheel whereabouts sensor can detect the extended position of wheel 21, and transmit signals to control module.Control mould Block is located on casing 10 and is connected with motor.When control module detects that wheel 21 drops to extension in wheel whereabouts sensor It is out of service that motor is controlled when position.
When clean robot 100 carries out cleaning, clean robot 100 can be started by switch, clean machine It is equipped with battery inside people 100 and provides energy with the cleaning for clean robot 100.Motor is carried out by control module Control, wheel driving motor 21 rotate, and then control clean robot 100 and clean in ground moving.Clean robot 100 exists When ground moving, cleans brush assemblies 51 and rotate and dust is swept into the first storage room 410, vacuum suction component 52 is then by dust It is sucked into the second storage room 420.In 100 motion process of clean robot, if encounter ladder, gully, clean robot 100 front wheel 21 be detached from ground and it is hanging, under the action of spring 22, hanging wheel 21 is driven to extended position, Wheel whereabouts sensor detects that the wheel position 21 is set, and transmits signals to control module, and control module control motor stops It only moves, to prevent clean robot 100 from continuing to move ahead.
As shown in Figure 22 and Figure 23, bumper 108 includes bumper body 111, power absorbed layer 188, thin film switch layer 122 With power transfer layer 180, bumper body 111 is located at the front of casing, and power absorbed layer 188 is located in bumper body 111, film Switching layer 122 includes the multiple electrical contacts being located on the outer surface of bumper body 111, and power transfer layer 180 is located at power absorbed layer Between 188 and thin film switch layer 122, power transfer layer 180 is transferred force in thin film switch layer 122.Clean robot 100 also wraps Include the control module (not shown go out) for controlling 100 operating status of clean robot, control module be located on casing and with it is thin Membrane switch layer 122 is connected to control the operating status of clean robot 100 according to the sensing results of bumper 108.
When clean robot 100 collides barrier, the thin film switch layer 122 on bumper 108 can perceive cleaning Robot 100 encounters barrier during traveling, the signal of " encountering obstacle " can be transmitted in control module at this time, After control module receives signal, corresponding response is made.That is, during clean robot 100 is in cleaning procedure, The thin film switch layer 122 of bumper 108 is able to detect the traveling road conditions of clean robot 100 (for example, encountering barrier, step With wall etc.).And when clean robot 100 and external environment are physically contacted, thin film switch layer 122 can be passed to control module Delivery signal, control module make feedback after receiving signal at once, send the commands to ring to the drive module of clean robot 100 Answer road conditions (for example, far from barrier, evading step).In addition, bumper 108 can also protect the inside of clean robot 100 Element is from by occurring impact force caused by being physically contacted with external environment.
As shown in Figure 16 and Figure 17, clean robot 100 is set there are five sensor-based system 2.Wherein, as shown in figure 16, the bottom of at The front end of disk 110 is set there are four sensor-based system 2, and is arranged downward.As shown in figure 17, this four sensor-based systems 2 can be used for examining Scaffold tower rank.Another sensor-based system 2 is set to the front side of shell 120, this sensor-based system can be used for detecting barrier or Wall.
As a result, by the way that the linking arm 20 connecting with spring 22 and wheel whereabouts sensor and control module is arranged, and control Molding block is connect with whereabouts sensor and motor, thus, it is possible to be adjusted by control module control to the operation of motor Control, and then can control clean robot 100 in ground moving dedusting.Moreover, spring 22 can drive linking arm 20 with motor-car The direction that wheel 21 is directed away from chassis 110 is mobile, and wheel 21 is made to be moved to extended position.Wheel whereabouts sensor can detecte The extended position of wheel 21 simultaneously transmits signals to control module, and control module control motor is out of service, to make wheel 21 hanging clean robots 100 do not continue to move ahead, and then effectively protect clean robot 100, in addition, passing through setting Sensor-based system 2 and walking module 11, sensor-based system 2 can transmit signal to control module, and control module can be based on the received Signal issues command adapted thereto to walking module 11, and then can control the different walking cleaning mode of clean robot 100.And The bumper 108 that " road conditions " can be perceived due to being provided with, so that clean robot 100 can either evade barrier during cleaning Hinder object, clean robot 100 can be also protected when colliding with object, make clean robot 100 carry out cleaning when more Add intelligence, safety.
Embodiment two:
As shown in figure 15, what is different from the first embodiment is that in this embodiment, five sensings of clean robot 100 are In system 2, wherein three sensor-based systems 2 are arranged in 120 chassis of shell, 110 front side, and arrange downward, these three sensor-based systems 2 can For detecting step.Other two sensor-based system 2 is arranged at intervals on 120 circumferential surface of shell, and towards front side, the two are sensed System 2 can be used for detecting barrier or wall.As a result, clean robot 100 can use sensor-based system 2 to barrier into Row detection, and pass through the walking cleaning mode that control module correspondingly adjusts clean robot 100.
In the description above, it is to be understood that the orientation or position of the instructions such as term " on ", "lower", "front", "rear" Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing the present invention and simplifying the description, without It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not It can be construed as a limitation of the present invention.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ", The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot Structure, material or feature are contained at least one embodiment or example of the utility model.In the present specification, to above-mentioned art The schematic representation of language may not refer to the same embodiment or example.Moreover, description specific features, structure, material or Person's feature can be combined in any suitable manner in any one or more of the embodiments or examples.
While there has been shown and described that the embodiments of the present invention, it will be understood by those skilled in the art that: These embodiments can be carried out with a variety of variations, modification, replacement in the case where not departing from the principles of the present invention and objective And modification, the scope of the utility model are defined by the claims and their equivalents.

Claims (15)

1. a kind of clean robot characterized by comprising
Casing, the casing include shell and chassis, and the chassis is located at the bottom of the shell；
Linking arm, the first end of the linking arm are rotatably arranged on the chassis, and the second end of the linking arm is equipped with can The wheel of rotation, at least part of the wheel are extend into the shell；
Spring, the both ends of the spring are connected respectively to push the second end of the linking arm with the linking arm and the chassis The direction for being directed away from the chassis rotates so that the wheel is moved to extended position；
Motor, the motor set on the housing and are connected with the wheel to drive the vehicle wheel rotation；
Dust box, the dust box are detachably arranged on the casing；
Clearing apparatus, the clearing apparatus are set on the housing with towards cleaning particle in the dust box；
Walking module, the walking module are set on the shell；
Control module, the control module is set on the housing, for controlling the clean robot operating status；
Sensor-based system, the sensor-based system is set on the housing and the sensor-based system includes optical transmitting set and optical detector, The optical transmitting set transmitting has the directional beam for limiting launching site, and the optical detector, which has, limits visual field, the sensing system System is configured to the restriction launching site and the restriction visual field there are overlapping region, and the control module is visited with the light respectively It surveys device to be connected with the walking module, towards the row when control module is configured in the overlapping region without object Walk module output travel commands；
Wheel whereabouts sensor, wheel whereabouts sensor are connected with the control module, and the control module is in the vehicle Wheel whereabouts sensor detects that the motor is controlled when the wheel drops to the extended position is out of service；
Bumper, the bumper include bumper body, power absorbed layer, thin film switch layer and power transfer layer, the bumper Main body is located at the front of the casing, and the power absorbed layer is located in the bumper body, and the thin film switch layer includes setting Multiple electrical contacts on the outer surface of the bumper body, the power transfer layer are located at the power absorbed layer and the film Between switching layer, the power transfer layer is transferred force in the thin film switch layer, the control module and the thin film switch Layer is connected to control the operating status of the clean robot according to the sensing results of the bumper.
2. clean robot according to claim 1, which is characterized in that the optical transmitting set is infrared transmitter, described Optical detector is infrared radiation detector.
3. clean robot according to claim 1, which is characterized in that the optical transmitting set and optical detector difference To be multiple, there are overlay regions at the restriction launching site of the restriction visual field of each optical detector and at least one optical transmitting set Domain, the control module are connected with multiple optical detectors respectively.
4. clean robot according to claim 1, which is characterized in that the optical transmitting set includes infrared light supply and modulation Device, the modulator are used to modulate the directional beam of the infrared light supply transmitting with preset frequency.
5. clean robot according to claim 4, which is characterized in that the optical transmitting set further includes transmitter collimation Device, the emitter collimator are arranged around the infrared light supply to guide the directional beam；
The sensor-based system further includes the detector collimator around optical detector setting to limit the restriction visual field.
6. clean robot according to claim 1, which is characterized in that it further include the first lens and the second lens, it is described First lens and the optical transmitting set cooperate and second lens and the optical detector cooperate, first lens and described Second lens cooperate to control the overlapping region.
7. clean robot according to claim 1, which is characterized in that before the sensor-based system is located at the shell Portion.
8. clean robot according to claim 1, which is characterized in that at least one described optical transmitting set is close to the vehicle Wheel setting.
9. clean robot according to claim 1, which is characterized in that the clearing apparatus is including cleaning brush assemblies and very Empty absorbent module, the cleaning brush assemblies are rotatably arranged on chassis, and the vacuum suction component is towards in the dust box Adsorb particle.
10. clean robot according to claim 9, which is characterized in that the cleaning brush assemblies include baffle brush and master Brush, the baffle brush and the main brush are rotatably arranged on the chassis respectively and are spaced setting in the longitudinal direction, described The rotation direction of baffle brush and the main brush is opposite.
11. clean robot according to claim 9, which is characterized in that there are two spaced for the dust box tool First storage room and the second storage room, first storage room and the cleaning brush assemblies are correspondingly arranged to receive the cleaning brush The particle that component cleans, second storage room and the vacuum suction component are correspondingly arranged to receive the vacuum suction component The particle of absorption.
12. clean robot according to claim 1, which is characterized in that further include being rotatably arranged at the chassis Deck on bottom wall.
13. clean robot according to claim 1, which is characterized in that the thin film switch layer includes the first conductive layer With the second conductive layer, multiple electrical contacts are equipped on first conductive layer and second conductive layer.
14. clean robot according to claim 13, which is characterized in that the thin film switch layer further includes positioned at described Separating layer between first conductive layer and second conductive layer, the separating layer are dielectric oil layer of ink.
15. clean robot according to claim 1, which is characterized in that the power transfer layer includes multiple power transmission parts, The multiple power transmission part is arranged adjacent to the thin film switch layer to transfer force in the thin film switch layer.
CN201721055322.1U 2017-08-22 2017-08-22 Clean robot Active CN208573607U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110123213A (en) * 2019-05-31 2019-08-16 尚科宁家(中国)科技有限公司 A kind of sweeper
CN112006610A (en) * 2020-08-06 2020-12-01 东莞理工学院 Intelligent robot with anti-interference automatic cleaning function for cleaning
CN114449934A (en) * 2019-09-26 2022-05-06 Lg电子株式会社 Robot cleaner
US11805952B2 (en) 2019-09-17 2023-11-07 Lg Electronics Inc. Cleaner

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110123213A (en) * 2019-05-31 2019-08-16 尚科宁家(中国)科技有限公司 A kind of sweeper
US11805952B2 (en) 2019-09-17 2023-11-07 Lg Electronics Inc. Cleaner
CN114449934A (en) * 2019-09-26 2022-05-06 Lg电子株式会社 Robot cleaner
CN114449934B (en) * 2019-09-26 2023-05-12 Lg电子株式会社 Robot cleaner
CN112006610A (en) * 2020-08-06 2020-12-01 东莞理工学院 Intelligent robot with anti-interference automatic cleaning function for cleaning

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Effective date of registration: 20210301

Address after: No.39 Caohu Avenue, Xiangcheng Economic Development Zone, Suzhou, Jiangsu Province, 215100

Patentee after: Meizhizongheng Technology Co.,Ltd.

Address before: No.39 Caohu Avenue, Xiangcheng Economic Development Zone, Suzhou, Jiangsu Province, 215100

Patentee before: JIANGSU MIDEA CLEANING APPLIANCES Co.,Ltd.